CA3236625A1 - Systeme de planification de trajet en essaim pour vehicules - Google Patents

Systeme de planification de trajet en essaim pour vehicules Download PDF

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Publication number
CA3236625A1
CA3236625A1 CA3236625A CA3236625A CA3236625A1 CA 3236625 A1 CA3236625 A1 CA 3236625A1 CA 3236625 A CA3236625 A CA 3236625A CA 3236625 A CA3236625 A CA 3236625A CA 3236625 A1 CA3236625 A1 CA 3236625A1
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CA
Canada
Prior art keywords
vehicle
travel
follower
leader
empty
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CA3236625A
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English (en)
Inventor
David W. Paglieroni
N. Reginald Beer
David Chambers
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lawrence Livermore National Security LLC
Original Assignee
Lawrence Livermore National Security LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lawrence Livermore National Security LLC filed Critical Lawrence Livermore National Security LLC
Priority to CA3236625A priority Critical patent/CA3236625A1/fr
Publication of CA3236625A1 publication Critical patent/CA3236625A1/fr
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G05D1/1064—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones specially adapted for avoiding collisions with other aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0078—Surveillance aids for monitoring traffic from the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Automation & Control Theory (AREA)
  • Human Resources & Organizations (AREA)
  • Economics (AREA)
  • Strategic Management (AREA)
  • Quality & Reliability (AREA)
  • Game Theory and Decision Science (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Development Economics (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne une méthode mise en oeuvre par un système informatique pour identifier un trajet de déplacement basé sur des emplacements permettant à un véhicule de se déplacer d'un emplacement actuel vers un emplacement cible. La méthode comprend les étapes suivantes : accéder aux indications des emplacements d'objets associés aux objets que le véhicule doit éviter et aux emplacements vides non associés aux objets que le véhicule doit éviter ; pour chaque emplacement vide et chaque emplacement voisin vide, calculer le coût de déplacement entre cet emplacement vide et cet emplacement voisin vide ; et appliquer un algorithme de chemin à coût minimal à un graphe pour déterminer un trajet de déplacement entre l'emplacement actuel et l'emplacement cible, où les sommets du graphe représentent les emplacements, les arêtes du graphe relient les voxels voisins vides, et les coûts de déplacement sont associés aux arêtes.
CA3236625A 2017-04-12 2017-04-12 Systeme de planification de trajet en essaim pour vehicules Pending CA3236625A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA3236625A CA3236625A1 (fr) 2017-04-12 2017-04-12 Systeme de planification de trajet en essaim pour vehicules

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
PCT/US2017/027253 WO2018190833A1 (fr) 2017-04-12 2017-04-12 Système de planification de trajet en essaim pour véhicules
CA3093522A CA3093522C (fr) 2017-04-12 2017-04-12 Systeme de planification de trajet en essaim pour vehicules
CA3236625A CA3236625A1 (fr) 2017-04-12 2017-04-12 Systeme de planification de trajet en essaim pour vehicules

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CA3093522A Division CA3093522C (fr) 2017-04-12 2017-04-12 Systeme de planification de trajet en essaim pour vehicules

Publications (1)

Publication Number Publication Date
CA3236625A1 true CA3236625A1 (fr) 2018-10-18

Family

ID=59409752

Family Applications (2)

Application Number Title Priority Date Filing Date
CA3236625A Pending CA3236625A1 (fr) 2017-04-12 2017-04-12 Systeme de planification de trajet en essaim pour vehicules
CA3093522A Active CA3093522C (fr) 2017-04-12 2017-04-12 Systeme de planification de trajet en essaim pour vehicules

Family Applications After (1)

Application Number Title Priority Date Filing Date
CA3093522A Active CA3093522C (fr) 2017-04-12 2017-04-12 Systeme de planification de trajet en essaim pour vehicules

Country Status (3)

Country Link
US (1) US20200117220A1 (fr)
CA (2) CA3236625A1 (fr)
WO (1) WO2018190833A1 (fr)

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US11796673B2 (en) 2016-07-06 2023-10-24 Lawrence Livermore National Security, Llc Object sense and avoid system for autonomous vehicles
US10066946B2 (en) 2016-08-26 2018-09-04 Here Global B.V. Automatic localization geometry detection
US11573575B2 (en) 2017-04-12 2023-02-07 Lawrence Livermore National Security, Llc Attract-repel path planner system for collision avoidance
CN110998468B (zh) * 2017-08-04 2023-12-29 意造科技私人有限公司 用于uav自动驾驶架构的分体式控制***配置
JP2020531351A (ja) * 2017-08-15 2020-11-05 オッテンハイマーズ インコーポレイテッド 遠隔物体の捕捉
TWI658253B (zh) * 2018-03-02 2019-05-01 光陽工業股份有限公司 根據領頭成員之即時位置進行動態導航之導航方法及系統
US11093759B2 (en) * 2018-03-06 2021-08-17 Here Global B.V. Automatic identification of roadside objects for localization
KR102145277B1 (ko) * 2018-09-20 2020-08-18 김세진 순찰용 드론 관제 시스템, 방법, 및 상기 방법을 실행시키기 위한 컴퓨터 판독 가능한 프로그램을 기록한 기록 매체
CN109542115B (zh) * 2018-10-29 2021-08-31 中国航空无线电电子研究所 一种多无人机编队飞行避障控制策略制定方法
CN111465556A (zh) * 2018-11-22 2020-07-28 乐天株式会社 信息处理***、信息处理方法及程序
US11312379B2 (en) * 2019-02-15 2022-04-26 Rockwell Collins, Inc. Occupancy map synchronization in multi-vehicle networks
CN109949567A (zh) * 2019-04-23 2019-06-28 深圳成谷科技有限公司 一种基于车路协同技术的车辆编队方法与***
JP7263119B2 (ja) * 2019-05-22 2023-04-24 村田機械株式会社 走行決定方法、コントローラ、及び当該コントローラを備える走行システム
CN110347180A (zh) * 2019-08-12 2019-10-18 南京邮电大学 计算无人机集群重新编队的最短编队距离的方法
CN111176309B (zh) * 2019-12-31 2021-01-12 北京理工大学 一种基于球面成像的多无人机自组群互感理解方法
JP7481903B2 (ja) * 2020-05-22 2024-05-13 株式会社東芝 情報処理装置、情報処理方法、情報処理システム及びコンピュータプログラム
CN112526988B (zh) * 2020-10-30 2022-04-22 西安交通大学 一种自主移动机器人及其路径导航和路径规划方法、***
US11927972B2 (en) 2020-11-24 2024-03-12 Lawrence Livermore National Security, Llc Collision avoidance based on traffic management data
CN113359838B (zh) * 2021-06-25 2022-10-18 中国人民解放***箭军工程大学 一种多uav协同飞行控制***及方法
CN113379334B (zh) * 2021-08-12 2021-11-09 北京交通发展研究院 基于有噪声轨迹数据的路段自行车骑行质量鉴别方法
US11999479B2 (en) * 2021-09-13 2024-06-04 Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company Fast path planning for dynamic avoidance in partially known environments
WO2023235262A1 (fr) * 2022-05-31 2023-12-07 University Of Southern California Affichage d'éclairages 3d à l'aide de taches lumineuses volantes

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Also Published As

Publication number Publication date
US20200117220A1 (en) 2020-04-16
CA3093522C (fr) 2024-05-07
WO2018190833A1 (fr) 2018-10-18
CA3093522A1 (fr) 2018-10-18

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